CN105236090A - Brick making system based on robot - Google Patents
Brick making system based on robot Download PDFInfo
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- CN105236090A CN105236090A CN201510595257.0A CN201510595257A CN105236090A CN 105236090 A CN105236090 A CN 105236090A CN 201510595257 A CN201510595257 A CN 201510595257A CN 105236090 A CN105236090 A CN 105236090A
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Abstract
The invention relates to a brick making system based on a robot. The brick making system comprises a hydraulic forming machine used for compressing green bricks, an automatic feeder used for conveying a steam-curing cart to a stacking zone in a hanging mode, a positioner used for limiting the steam-curing cart at the stacking zone and the robot used for carrying out green brick stacking on the steam-curing cart. The positioner comprises a supporting arm with one end connected to a cylinder on the left side face of the supporting arm; the other end of the cylinder and the bottom of the supporting arm are hinged to the left end and the right end of a sliding block respectively, and the sliding block is in sliding fit with a guide rail body; a buffer device is arranged at the left end of the guide rail body and used for buffering impact force generated when the steam-curing cart impacts the right side face of the supporting arm, and the right end face of the buffer device is kept in tight contact with the left end face of the sliding block. The buffer device is a two-stage hydraulic buffer. When the steam-curing cart impacts the supported supporting arm, the buffer device buffers the impact force of the sliding block, so that pressure, caused by impacting of the steam-curing cart, on the cylinder is relived.
Description
Technical field
The present invention relates to a kind of full automaticity brick making system.
Background technology
The conveying of adobe is related in building-block, brick hydroforming process, general employing steaming maintaining vehicle realizes the conveying of adobe in conjunction with automatic feeding machine, such as: Chinese patent literature CN101574833B discloses a kind of fully automatic hydroform of brick and smart code stamps device, also disclose a kind of automatic feeding machine, comprise: feeding car, steady arm and the location feeding actuating device to realize to steaming maintaining vehicle, stamp work to complete code.
But there is certain defect in the program, because this invention improves production efficiency, steady arm must be frequent, continuous firing, the impulsive force that cylinder in steady arm brings owing to being subject to steaming maintaining vehicle frequently, and due to cylinder be not horizontal positioned, when it props up support arm, there is certain angle, therefore when being subject to impulsive force, its buffering effect is poor, and be easy to damage, cause support arm and the direct matching loose of cylinder, steaming maintaining vehicle cannot accurately be located, cause code to stamp position that robot accurately cannot locate steaming maintaining vehicle, thus have influence on the work efficiency of full automaticity brick making system.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of full automaticity brick making system, and to solve in adobe course of conveying, the steady arm in brick production line holds damageable technical matters due to long-term impact.
The invention provides a kind of full automaticity brick making system, comprise: for the hydraulic forming machine of pressing unfired brick, for hanging the automatic feed machine sending steaming maintaining vehicle to Ma Duo district, for carrying out the spacing steady arm to Ma Duo district to described steaming maintaining vehicle, for carrying out the robot that adobe code stamps operation to described steaming maintaining vehicle, described steady arm comprises: support arm, and one end is connected to the cylinder on this support arm left surface; The other end of described cylinder and the bottom of support arm are articulated with the two ends, left and right of a slide block respectively, this slide block and a guide rail bearing fit, the left end of described guide rail is provided with shock absorber, the impulsive force produced when this shock absorber is for cushioning and clashing into support arm right flank by described steaming maintaining vehicle, and the right side of this shock absorber and described slide block left side are suitable for keeping close contact.Described shock absorber is the two-stage energy disperser of fluid pressure type.
Described two-stage energy disperser comprises: chopped-off head energy disperser, final stage energy disperser; Described chopped-off head energy disperser, final stage energy disperser comprise respectively: cylindrical, and for filling the cylinder body of buffer medium, cylinder cap is provided with in the open end sealing of this cylinder body, in the central through hole of described cylinder cap, air-tight movable is combined with a piston rod, the right-hand member of this piston rod is provided with for regulating medium toward the piston body assembly of regurgitation volume, this piston body assembly is suitable for doing piston movement in described cylinder body, and coordinates with the inwall movable sealing of described cylinder body; Wherein, the cylinder body of described chopped-off head energy disperser forms the piston rod of described final stage energy disperser; When the work of buffering, the cylinder body right side of described final stage energy disperser is as the contact surface collided with slide block; Electromagnet is axially arranged with in the sidewall of the cylinder body of described final stage energy disperser; The right side of the piston body assembly of described final stage energy disperser is provided with the pressure sensor for detecting pressure medium, and this pressure sensor is connected with a processor module; When described slide block clashes into the right side of described cylinder body, described processor module is suitable for according to pressure medium value, controls an electric current driver module and exports the electric current matched with this pressure medium value, make described electromagnet produce corresponding magnetic field, with slide block described in adhesive; Until described processor module records pressure medium value when being equilibrium value, control described electric current driver module and close outgoing current, make described magnetic field dissipate, to discharge described slide block; Wherein, the piston body assembly of energy disperser at different levels is suitable for when doing piston movement, the pressure medium that described treater detects according to described pressure sensor, control described piston body assembly regulate or the medium of closing in corresponding cylinder body toward regurgitation volume, to regulate this piston body component movement rate or buffering progression.
Preferred as one, it is multiple that described electromagnet comprises in the cylinder side wall being evenly distributed on described final stage energy disperser, and the suction-combining force produced to make it distributes along the cylinder body axle center of described final stage energy disperser.
Further, in order to avoid medium temperature is too high, impact the energy disperser life-span, the right side of the piston body assembly of described chopped-off head energy disperser, final stage energy disperser is respectively equipped with the temperature sensor being suitable for detecting medium temperature, described temperature sensor is connected with described processor module respectively; Described processor module is suitable for prestoring the ceiling temperature of media operation; When the piston body assembly of energy disperser at different levels is suitable for when doing piston movement, the medium temperature that described processor module detects according to described temperature sensor, regulate medium in corresponding cylinder body toward regurgitation volume, namely, described processor module is when described medium temperature reaches described ceiling temperature, control described piston body assembly reduce or close described medium toward regurgitation volume, with the speed of adjusting piston motion or closedown respective buffer.
Further, described piston body assembly comprises: the coaxial left and right piston body arranged, this left and right piston body is arranged with several through holes for medium axial flow, being sealed and matched between the adjacent face of left and right piston body, during to make to do piston movement, medium realizes coming and going flowing by means of only each through hole on described left and right piston body; The cavity for placing motor is provided with in described left piston body, this motor is controlled by described processor module, the end winding support of its rotor is connected on described right piston body, rotate for driving this right piston body according to pressure medium, to control the relative position relation of each through hole on left and right piston body, and then control agent flow, i.e. control plunger kinematic velocity.
Compared with prior art, tool of the present invention has the following advantages: (1) the present invention is by making described steaming maintaining vehicle clash into the support arm propped up during at shock absorber, cushion the impulsive force of the steaming maintaining vehicle that described cylinder is subject to, energy actv. alleviates the impulsive force that cylinder is subject to, and actv. extends the life-span of cylinder; (2) the present invention produces the magnetic field that matches with shock pressure with adhesive slide block by treater, electric current driver module, makes fit tightly between slide block and energy disperser; (3) instant invention overcomes due to impact energy fluctuation, and cause energy disperser cannot the technical matters of co-ordination, the present invention detects impact energy by pressure sensor, and the medium of suitable adjustment energy disperser at different levels is toward regurgitation volume, to control the kinematic velocity of each piston body assembly, make energy disperser co-ordination at different levels, avoid certain one-level energy disperser that may occur excessive because of impact energy, all the other energy dispersers have little time compression, and cause this grade of energy disperser long-term work in a high voltage state, easily cause damage; (4) coordinated by each through hole in left and right piston body, to control medium in corresponding cylinder body toward regurgitation volume, thus change the shuttle speed of respective pistons, to alleviate the cavity pressure of cylinder body at different levels, extend the energy disperser life-span; (5) this two-stage energy disperser is without the need to considering that medium is different, and application place is extensive, without the need to regulating buffer operative order in addition.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below basis specific embodiment and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
The structural representation of steady arm in Fig. 1 full automaticity brick making system of the present invention;
The structural representation one of Fig. 2 two-stage energy disperser of the present invention;
The structural representation two of Fig. 3 two-stage energy disperser of the present invention;
The structural representation of the piston body assembly in Fig. 4 two-stage energy disperser of the present invention;
The operating diagram of Fig. 5 piston body assembly of the present invention;
Fig. 6 control circuit structured flowchart of the present invention.
Wherein, piston rod, the piston rod of 6-1 final stage energy disperser, 7 piston body assemblies, 8 urceolus, 9 pressure sensors, 7-1 left piston body, the right piston body of 7-2,7-3 through hole, 7-4 motor, the 7-5 rotor of 1-1 shock absorber, 1-2 steaming maintaining vehicle, 1-3 automatic feed machine, 1-4 steady arm, 1-5 support arm, 1-6 cylinder, 1-7 slide block, 1-8 guide rail, 1 chopped-off head energy disperser, 2 final stage energy dispersers, 4 cylinder bodies, 4-1 electromagnet, 5 cylinder caps, 6 chopped-off head energy dispersers.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
See Fig. 1, a kind of full automaticity brick making system, comprise: for the hydraulic forming machine (not drawing in Fig. 1) of pressing unfired brick, for hanging the automatic feed machine 1-3 sending steaming maintaining vehicle 1-2 to Ma Duo district, for carrying out the spacing steady arm 1-4 to Ma Duo district to described steaming maintaining vehicle 1-2, for carrying out the robot (not drawing in Fig. 1) that adobe code stamps operation to described steaming maintaining vehicle 1-2, described steady arm comprises: support arm 1-5, for propping up or put down the cylinder 1-6 of support arm, this cylinder 1-6 is used for propping up or putting down support arm; Described steady arm 1-4 is fixed on a slide block 1-7, and namely the other end of described cylinder 1-6 and the bottom of support arm 1-5 are connected to the two ends, left and right of this slide block 1-7; This slide block 1-7 and a guide rail 1-8 bearing fit, the left end of described guide rail 1-8 is provided with shock absorber 1-1, this shock absorber 1-1 is used for buffering and clashes into steady arm 1-4 by described steaming maintaining vehicle 1-2, namely the slide block impulsive force produced during support arm 1-5 right flank, and the right side of this shock absorber 1-1 and described slide block left side are suitable for keeping close contact; Wherein, described shock absorber 1-1, when described steaming maintaining vehicle 1-2 clashes into the support arm 1-5 propped up, cushions described slide block impulsive force, clashes into the pressure caused with what alleviate that described cylinder 1-6 is subject to by described steaming maintaining vehicle 1-2.
As can see from Figure 1, slide block 1-7 length long enough, upper surface fixed locator, the left side of slide block 1-7 occurs to cushion with the right side of shock absorber 1-1 and coordinates.
Wherein, described hydraulic forming machine, code stamp robot, steaming maintaining vehicle 1-2, automatic feed machine 1-3, described support arm 1-5, can see the specification sheets in Chinese patent literature CN101574833B for propping up or put down the dependency structures such as the cylinder 1-6 of support arm, and the accompanying drawing 1,2 and 8 in Chinese patent literature CN101574833B.
Because those skilled in the art generally believe that cylinder has certain buffering effect, but the impulsive force that have ignored due to suffered steaming maintaining vehicle 1-2 is not same direction relative to cylinder, according to mechanical analysis, after decomposition, can find, cylinder will bear the power larger than steaming maintaining vehicle 1-2 impulsive force just can withstand support arm 1-5, because the efficiency of Full-automatic hydraulic forming machine is very high, the workload of support arm 1-5 is very big, damage is caused so as easy as rolling off a log, therefore the impulsive force of steaming maintaining vehicle 1-2 can be alleviated by actv. by the present invention, improve the life-span of cylinder.
Described shock absorber 1-1 is the two-stage energy disperser of fluid pressure type.
See Fig. 2, Fig. 3 and Fig. 6, described two-stage energy disperser comprises: chopped-off head energy disperser 1, final stage energy disperser 2; Described chopped-off head energy disperser 1, final stage energy disperser 2 comprise respectively: cylindrical, and for filling the cylinder body 4 of buffer medium, cylinder cap 5 is provided with in the open end sealing of this cylinder body 4, in the central through hole of described cylinder cap 5, air-tight movable is combined with a piston rod 6, the right-hand member of this piston rod 6 is provided with for regulating medium toward the piston body assembly 7 of regurgitation volume, this piston body assembly 7 is suitable for doing piston movement in described cylinder body 4, and coordinates with the inwall movable sealing of described cylinder body 4; Wherein, the cylinder body 4 of described chopped-off head energy disperser 1 forms the piston rod 6-1 of described final stage energy disperser 2; When the work of buffering, cylinder body 4 right side of described final stage energy disperser 2 is as the contact surface collided with slide block 1-7; Electromagnet 4-1 is axially arranged with in the sidewall of the cylinder body 4 of described final stage energy disperser 2; The right side of the piston body assembly 7 of described final stage energy disperser 2 is provided with the pressure sensor 9 for detecting pressure medium, and this pressure sensor is connected with a processor module; When described slide block 1-7 clashes into the right side of described cylinder body, described processor module is suitable for according to pressure medium value, control an electric current driver module and export the electric current matched with this pressure medium value, make described electromagnet 4-1 produce corresponding magnetic field, with slide block 1-7 described in adhesive; Until described processor module records pressure medium value when being equilibrium value, control described electric current driver module and close outgoing current, make described magnetic field dissipate, to discharge described slide block 1-7; Wherein, the piston body assembly 7 of energy disperser at different levels is suitable for when doing piston movement, the pressure medium that described treater detects according to described pressure sensor 9, control described piston body assembly regulate or the medium of closing in corresponding cylinder body 4 toward regurgitation volume, the speed of move to regulate this piston body assembly 7 or cushion progression.(in order to clearly represent the structure of energy disperser, the slide block in Fig. 2 and Fig. 3 adopts the mode simplified.)
Its right end face of urceolus 8 is fixed on bottom the piston rod 6 of described chopped-off head energy disperser 1.Urceolus 8 is fixed on guide rail 1-8, and cylinder body 4 right side and the slide block 11 of described final stage energy disperser 2 are oppositely arranged.
When described slide block 1-7 clashes into the right side of described cylinder body 4, described cylinder body 4 is moved to the left, piston body assembly 7 moves right relative to described cylinder body 4, in cylinder body 4, right side buffer medium is subject to larger pressure, when buffer medium flows on the left of piston body assembly 7, the pressure that in cylinder body 4, right side buffer medium is subject to reduces gradually, until the left and right sides pressure medium of described piston body assembly 7 is equal, namely when described pressure medium value is equilibrium value (force value when namely the hydraulic pressure value of the left and right sides of piston body assembly 4 is equal), when piston body assembly 7 quits work, slide block 1-7 also stops mobile.Particularly have employed pressure sensor accurately detect slide block 1-7 clash into time cylinder body 4 right side time, the impulsive force of slide block 1-7, without the need to controlling the order of two-stage buffering according to the Media density difference in each cylinder body of two-stage energy disperser, and can more reasonably regulate buffering rhythm according to force value, extend the life-span of energy disperser.
Wherein, described processor module adopts micro controller system, embedded-type ARM module; Pressure sensor 9, such as, can adopt the gloomy P499VBS-404C in river; Described electric current driver module can adopt alternating current output unit, and slide block 1-7 adopts irony slide block.
The right side of the piston body assembly of described chopped-off head energy disperser 1, final stage energy disperser 2 is respectively equipped with the temperature sensor being suitable for detecting medium temperature, described temperature sensor is connected with described processor module respectively; Described processor module is suitable for prestoring the ceiling temperature of media operation; When the piston body assembly of energy disperser at different levels is suitable for when doing piston movement, the medium temperature that described processor module detects according to described temperature sensor, regulate medium in corresponding cylinder body toward regurgitation volume, namely, described processor module is when described medium temperature reaches described ceiling temperature, control described piston body assembly 7 reduce or close described medium toward regurgitation volume, with the speed of adjusting piston motion or closedown respective buffer.(in figure, temperature sensor does not draw)
See Fig. 4-5, described piston body assembly 7 comprises: coaxial left piston body 7-1, the right piston body 7-2 arranged, this left piston body 7-1, right piston body 7-2 are arranged with several through hole 7-3 for medium axial flow, being sealed and matched between the adjacent face of described left and right piston body, during to make to do piston movement, medium realizes coming and going flowing by means of only each through hole 7-3 on described left and right piston body; The cavity for placing motor 7-4 is provided with in described left piston body 7-1, this motor 7-4 is controlled by described processor module, its rotor 7-5 is connected to described right piston body 7-2, rotate for driving this right piston body 7-2 according to pressure medium, to control the relative position relation of each through hole 7-3 on left and right piston body, and then control agent flow, i.e. control plunger kinematic velocity.
In Fig. 5, dotted line through hole 7-3 represents it is through hole 7-3 in left piston body 7-1, solid line through hole 7-3 represents the through hole 7-3 in right piston body 7-2, arrow represents motor 7-4 rotation direction, this Fig. 4 represents respective through hole 7-3 docking operation on the fitting surface of left and right piston body 7-2, to control the rate-of flow in through hole.
Described right piston body 7-2 coaxially deflects relative to right piston body 7-2, its slewing area is no more than the diameter of through hole 7-3, also deflection angle can be called, namely motor 7-4 drives right piston body 7-2 in this diameter range according to pressure medium, do to come and go and rotate, to reach the object of control agent flow, thus play the piston movement speed controlling respective pistons body assembly 7, and then alleviate pressure medium in cylinder body 4, play the object extending the energy disperser life-span, and each energy disperser can take turns to operate, under non-stop-machine prerequisite, the energy disperser making temperature higher is cooled, extend service life.
Power pack can adopt powered battery.Battery can be installed in left or right piston body 7-2.
See Fig. 5, if described through hole 7-3 has several, its distribution can be that concentric circles distributes with left and right piston body 7-2, and certain through hole also can a variety of shape, such as: cross section is the through hole etc. of the through hole of kidney-shaped, ellipsoidal cross section; Signal data line can be placed in cylinder body 4 wall of energy disperser at different levels, or is directly placed in medium.
Claims (1)
1. a full automaticity brick making system, comprise: for the hydraulic forming machine of pressing unfired brick, for hanging the automatic feed machine sending steaming maintaining vehicle to Ma Duo district, for carrying out the spacing steady arm to Ma Duo district to described steaming maintaining vehicle, for carrying out the robot that adobe code stamps operation to described steaming maintaining vehicle, described steady arm comprises: support arm, and one end is connected to the cylinder on this support arm left surface;
It is characterized in that, the other end of described cylinder and the bottom of support arm are articulated with the two ends, left and right of a slide block respectively, this slide block and a guide rail bearing fit, the left end of described guide rail is provided with shock absorber, the impulsive force produced when this shock absorber is for cushioning and clashing into support arm right flank by described steaming maintaining vehicle, and the right side of this shock absorber and described slide block left side are suitable for keeping close contact;
Described shock absorber is the two-stage energy disperser of fluid pressure type;
Described two-stage energy disperser comprises: chopped-off head energy disperser, final stage energy disperser;
Described chopped-off head energy disperser comprises:
For filling the cylinder body of buffer medium, cylinder cap is provided with in the open end sealing of this cylinder body, in the central through hole of described cylinder cap, air-tight movable is combined with a piston rod, the right-hand member of this piston rod is provided with for regulating medium toward the piston body assembly of regurgitation volume, this piston body assembly is suitable for doing piston movement in described cylinder body, and coordinates with the inwall movable sealing of described cylinder body;
Wherein, the cylinder body of described chopped-off head energy disperser forms the piston rod of described final stage energy disperser;
It is multiple that described electromagnet comprises in the cylinder side wall being evenly distributed on described final stage energy disperser;
Described piston body assembly comprises: the coaxial left and right piston body arranged, this left and right piston body is arranged with several through holes for medium axial flow, being sealed and matched between the adjacent face of left and right piston body, during to make to do piston movement, medium realizes coming and going flowing by means of only each through hole on described left and right piston body;
The cavity for placing motor is provided with in described left piston body, this motor is controlled by described processor module, the end winding support of its rotor is connected on described right piston body, rotate for driving this right piston body according to pressure medium, to control the relative position relation of each through hole on left and right piston body, and then control agent flow, i.e. control plunger kinematic velocity.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310322293.0A CN103398135B (en) | 2013-07-29 | 2013-07-29 | A kind of full-automatic brick making system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310322293.0A Division CN103398135B (en) | 2013-07-29 | 2013-07-29 | A kind of full-automatic brick making system |
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| CN105236090A true CN105236090A (en) | 2016-01-13 |
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Family Applications (8)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510595642.5A Pending CN105179584A (en) | 2013-07-29 | 2013-07-29 | Full-automatic brick making system based on robot |
| CN201510594945.5A Pending CN105197605A (en) | 2013-07-29 | 2013-07-29 | Robot-based full-automatic brick making system controlled by processor module |
| CN201510595902.9A Pending CN105179585A (en) | 2013-07-29 | 2013-07-29 | Full-automatic brick making system based on robot |
| CN201510595244.3A Pending CN105299122A (en) | 2013-07-29 | 2013-07-29 | Brick making system based on robot |
| CN201510595257.0A Pending CN105236090A (en) | 2013-07-29 | 2013-07-29 | Brick making system based on robot |
| CN201510595885.9A Pending CN105236091A (en) | 2013-07-29 | 2013-07-29 | Full-automatic robot-based brick making system controlled by processor module |
| CN201310322293.0A Active CN103398135B (en) | 2013-07-29 | 2013-07-29 | A kind of full-automatic brick making system |
| CN201510593868.1A Pending CN105257773A (en) | 2013-07-29 | 2013-07-29 | Brick making system controlled on basis of processor module of robot |
Family Applications Before (4)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510595642.5A Pending CN105179584A (en) | 2013-07-29 | 2013-07-29 | Full-automatic brick making system based on robot |
| CN201510594945.5A Pending CN105197605A (en) | 2013-07-29 | 2013-07-29 | Robot-based full-automatic brick making system controlled by processor module |
| CN201510595902.9A Pending CN105179585A (en) | 2013-07-29 | 2013-07-29 | Full-automatic brick making system based on robot |
| CN201510595244.3A Pending CN105299122A (en) | 2013-07-29 | 2013-07-29 | Brick making system based on robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510595885.9A Pending CN105236091A (en) | 2013-07-29 | 2013-07-29 | Full-automatic robot-based brick making system controlled by processor module |
| CN201310322293.0A Active CN103398135B (en) | 2013-07-29 | 2013-07-29 | A kind of full-automatic brick making system |
| CN201510593868.1A Pending CN105257773A (en) | 2013-07-29 | 2013-07-29 | Brick making system controlled on basis of processor module of robot |
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| CN (8) | CN105179584A (en) |
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- 2013-07-29 CN CN201510595902.9A patent/CN105179585A/en active Pending
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| Publication number | Publication date |
|---|---|
| CN105299122A (en) | 2016-02-03 |
| CN105236091A (en) | 2016-01-13 |
| CN103398135B (en) | 2015-08-26 |
| CN103398135A (en) | 2013-11-20 |
| CN105179585A (en) | 2015-12-23 |
| CN105179584A (en) | 2015-12-23 |
| CN105257773A (en) | 2016-01-20 |
| CN105197605A (en) | 2015-12-30 |
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